Fix deprecation warnings

demo_nodes_py/demo_nodes_py/topics/listener.py

@@ -22,7 +22,7 @@ class Listener(Node):
 
     def __init__(self):
         super().__init__('listener')
-        self.sub = self.create_subscription(String, 'chatter', self.chatter_callback)
+        self.sub = self.create_subscription(String, 'chatter', self.chatter_callback, 10)
 
     def chatter_callback(self, msg):
         self.get_logger().info('I heard: [%s]' % msg.data)

demo_nodes_py/demo_nodes_py/topics/listener_qos.py

@@ -17,7 +17,8 @@
 
 import rclpy
 from rclpy.node import Node
-from rclpy.qos import qos_profile_default, qos_profile_sensor_data
+from rclpy.qos import qos_profile_sensor_data
+from rclpy.qos import QoSProfile
 from rclpy.qos import QoSReliabilityPolicy
 
 from std_msgs.msg import String
@@ -32,7 +33,7 @@ def __init__(self, qos_profile):
         else:
             self.get_logger().info('Best effort listener')
         self.sub = self.create_subscription(
-            String, 'chatter', self.chatter_callback, qos_profile=qos_profile)
+            String, 'chatter', self.chatter_callback, qos_profile)
 
     def chatter_callback(self, msg):
         self.get_logger().info('I heard: [%s]' % msg.data)
@@ -54,7 +55,7 @@ def main(argv=sys.argv[1:]):
     rclpy.init(args=args.argv)
 
     if args.reliable:
-        custom_qos_profile = qos_profile_default
+        custom_qos_profile = QoSProfile(depth=10)
     else:
         custom_qos_profile = qos_profile_sensor_data
 

demo_nodes_py/demo_nodes_py/topics/listener_serialized.py

@@ -26,6 +26,7 @@ def __init__(self):
             String,
             'chatter',
             self.listener_callback,
+            10,
             raw=True)  # We're subscribing to the serialized bytes, not std_msgs.msg.String
 
     def listener_callback(self, msg):

demo_nodes_py/demo_nodes_py/topics/talker.py

@@ -23,7 +23,7 @@ class Talker(Node):
     def __init__(self):
         super().__init__('talker')
         self.i = 0
-        self.pub = self.create_publisher(String, 'chatter')
+        self.pub = self.create_publisher(String, 'chatter', 10)
         timer_period = 1.0
         self.tmr = self.create_timer(timer_period, self.timer_callback)
 

demo_nodes_py/demo_nodes_py/topics/talker_qos.py

@@ -17,7 +17,8 @@
 
 import rclpy
 from rclpy.node import Node
-from rclpy.qos import qos_profile_default, qos_profile_sensor_data
+from rclpy.qos import qos_profile_sensor_data
+from rclpy.qos import QoSProfile
 from rclpy.qos import QoSReliabilityPolicy
 
 from std_msgs.msg import String
@@ -32,7 +33,7 @@ def __init__(self, qos_profile):
             self.get_logger().info('Reliable talker')
         else:
             self.get_logger().info('Best effort talker')
-        self.pub = self.create_publisher(String, 'chatter', qos_profile=qos_profile)
+        self.pub = self.create_publisher(String, 'chatter', qos_profile)
 
         timer_period = 1.0
         self.tmr = self.create_timer(timer_period, self.timer_callback)
@@ -61,7 +62,7 @@ def main(argv=sys.argv[1:]):
     rclpy.init(args=args.argv)
 
     if args.reliable:
-        custom_qos_profile = qos_profile_default
+        custom_qos_profile = QoSProfile(depth=10)
     else:
         custom_qos_profile = qos_profile_sensor_data
 

topic_monitor/topic_monitor/scripts/data_publisher.py

@@ -63,7 +63,7 @@ def main():
     node = rclpy.create_node('%s_pub' % topic_name)
     node_logger = node.get_logger()
 
-    qos_profile = QoSProfile()
+    qos_profile = QoSProfile(depth=args.depth)
 
     if args.best_effort:
         node_logger.info('Reliability: best effort')
@@ -80,7 +80,6 @@ def main():
         qos_profile.history = QoSHistoryPolicy.RMW_QOS_POLICY_HISTORY_KEEP_LAST
 
     node_logger.info('Depth: {0}'.format(args.depth))
-    qos_profile.depth = args.depth
 
     if args.transient_local:
         node_logger.info('Durability: transient local')
@@ -90,7 +89,7 @@ def main():
         qos_profile.durability = QoSDurabilityPolicy.RMW_QOS_POLICY_DURABILITY_VOLATILE
 
     data_pub = node.create_publisher(
-        Header, topic_name, qos_profile=qos_profile)
+        Header, topic_name, qos_profile)
     node_logger.info('Publishing on topic: {0}'.format(topic_name))
 
     node_logger.info('Payload size: {0}'.format(args.payload_size))

topic_monitor/topic_monitor/scripts/topic_monitor.py

@@ -20,7 +20,7 @@
 
 import rclpy
 import rclpy.logging
-from rclpy.qos import qos_profile_default
+from rclpy.qos import QoSProfile
 from rclpy.qos import QoSReliabilityPolicy
 
 from std_msgs.msg import Float32, Header
@@ -132,7 +132,7 @@ def add_monitored_topic(
             topic_type,
             topic_name,
             functools.partial(monitored_topic.topic_data_callback, logger_=node_logger),
-            qos_profile=qos_profile)
+            qos_profile)
         assert sub  # prevent unused warning
 
         # Create a timer for maintaining the expected value received on the topic
@@ -156,7 +156,7 @@ def add_monitored_topic(
         node.get_logger().info(
             'Publishing reception rate on topic: %s' % reception_rate_topic_name)
         reception_rate_publisher = node.create_publisher(
-            Float32, reception_rate_topic_name)
+            Float32, reception_rate_topic_name, 10)
 
         with self.monitored_topics_lock:
             monitored_topic.expected_value_timer = expected_value_timer
@@ -349,7 +349,7 @@ def run_topic_listening(node, topic_monitor, options):
             is_new_topic = topic_name and topic_name not in topic_monitor.monitored_topics
             if is_new_topic:
                 # Register new topic with the monitor
-                qos_profile = qos_profile_default
+                qos_profile = QoSProfile(depth=10)
                 qos_profile.depth = QOS_DEPTH
                 if topic_info['reliability'] == 'best_effort':
                     qos_profile.reliability = \